function [R, t] = Homo2Extr(H)

% M = 1.0e+002*[7.622999999999999                   0   2.816000000000000
%                               0   7.612000000000000   2.113000000000000
%                               0                   0   0.010000000000000];
                          
M = 1.0e+002*[7.622999999999999                   0   3.20000000000000
                              0   7.612000000000000   2.40000000000000
                              0                   0   0.010000000000000];

s = norm(M\H(:,1));
ld = 1/s;
 
r1 = ld*(M\H(:,1));

r2 = ld*(M\H(:,2));

r3 = cross(r1,r2);

R_dot = [r1 r2 r3];

[U,S,V] = svd(R_dot);

R = U*eye(3)*V';

t = ld*(M\H(:,3));

% angles = tr2rpy_Tsai(R)/pi*180
angles = tr2rpy(R)/pi*180

end